Control of a snake-like robot using the screw drive mechanism

Masaya Hara, Shogo Satomura, Hiroaki Fukushima, Tetsushi Kamegawa, Hiroki Igarashi, Fumitoshi Matsuno

Research output: Chapter in Book/Report/Conference proceedingConference contribution

12 Citations (Scopus)

Abstract

In this paper, we develop a prototype of a new snake-like robot using the screw drive mechanism, and design a control system design for trajectory tracking. First, we explain the outline of the snake-like robot using the screw drive units and joint units, as well as the principle of the screw drive mechanism. Next, in order to achieve the trajectory tracking of the robot, we derive a kinematic model. Finally, the validity of the derived model and the effectiveness of the proposed control system are demonstrated by simulations and experiments.

Original languageEnglish
Title of host publication2007 IEEE International Conference on Robotics and Automation, ICRA'07
Pages3883-3888
Number of pages6
DOIs
Publication statusPublished - Nov 27 2007
Event2007 IEEE International Conference on Robotics and Automation, ICRA'07 - Rome, Italy
Duration: Apr 10 2007Apr 14 2007

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
ISSN (Print)1050-4729

Other

Other2007 IEEE International Conference on Robotics and Automation, ICRA'07
CountryItaly
CityRome
Period4/10/074/14/07

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering

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  • Cite this

    Hara, M., Satomura, S., Fukushima, H., Kamegawa, T., Igarashi, H., & Matsuno, F. (2007). Control of a snake-like robot using the screw drive mechanism. In 2007 IEEE International Conference on Robotics and Automation, ICRA'07 (pp. 3883-3888). [4209692] (Proceedings - IEEE International Conference on Robotics and Automation). https://doi.org/10.1109/ROBOT.2007.364074